Autonomous University of Queretaro

Engineering Faculty
Electromechanical Engineering

Laboratory Manual:
Dynamic of Systems

Teacher:
Dr. Juan José Saucedo Dorantes

Period: January-June 2019.

Index
Experiment 1: Hooke’s law - Characterization of springs ............................... 3
Experiment 2: Simulation of one-degree freedom systems ............................. 5
Experiment 3: Free vibrations of a one-degree freedom system ..................... 7
Experiment 4: Forced vibration response of a cantilever beam ....................... 9
Experiment 5: Simulation of multiple-degree freedom systems .................... 11
Experiment 6: Forced vibration and whirling of rotating shafts .................... 13
Experiment 7: Simulation and control of a quarter vehicle MR suspension . 15

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Experiment 1: Hooke’s law - Characterization of springs
Estimated time: 3 hours.
Objective: the main objective of this experiment lies in the characterization of different springs to
prove the Hooke’s Law of a spring.
Equipment:

• Different helical springs

• Support rod
• Meter scale demo (1000mm)
• Different weight (mass)

Experiment description:
This experiment consists of measuring the stretching produced by different loads, added to the spring,
tests the elasticity of a spring. When a spring is stretched by an applied force, a restoring force is
produced. The relation between the force 𝐹 and displacement 𝑥 is 𝐹=𝑘𝑥. The force is opposite in
direction to the displacement. The constant 𝑘 is known as the force constant of the spring. This is the
force, expressed in Newton, which will produce an elongation of one meter in the spring. The equation
of energy of the spring is shown below:
𝑑𝑊 = 𝐹𝑑𝑥
By integrating the previous equation, the potential energy of the spring is given as:
1
𝑊 = ∆𝑃𝐸 = 𝑘(𝑥12 − 𝑥02 )
2

Therefore, the procedure to perform this experiment is described below:

1. Set up the spring as it is shown in the previous figure.

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2. Measure the length of each spring, the initial length of the spring is measured when it is not
subjected to any force (non-stretched length).
3. Hang a mass 𝑚1 on the first spring and record the elongation, when the mass is attached to the
spring it is subjected to a specific force.
4. Repeat step 3 for different masses (𝑚2, 𝑚3) and also record the spring elongation.
5. Repeat steps 4 and 5 for all the considered springs.
6. Calculate the applied force for each different mass applied to each different spring.
7. Calculate the stiffness coefficient 𝑘 of each spring by using 𝐹𝑖/∆𝐿𝑖 ⁄ and 𝑘𝑎𝑣𝑔 for each spring.
8. Connect different spring in series and parallel, and repeat steps 3, 4 and 5.
9. By using the software, plot the force versus displacement for each considered spring and fill the
following table.

Spring Mass Force Deformation Spring Mass Force Deformation

1 (kg) (m*g) (m) 2 (kg) (m*g) (meters)

Results and conclusions:

After carrying out this experiment, the student must be capable to obtain the stiffness coefficient of
different springs, moreover, the students have to be capable of understanding the theoretical basis
considered of spring elements.

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Experiment 2: Simulation of one-degree freedom systems
Estimated time: 2 hours.
Objective: the objective of this experiment lies in the simulation of a one-degree freedom system, by
carrying out this simulation it can be possible to obtain a theoretical approximation of the free and
forced vibration response.
Equipment:

• Software Matlab

Experiment description:
Nowadays, most of the important developments have been first modeled and tested by means of
simulations. In this regard, dynamic modeling and simulations of mechanical systems have been
played an important role to avoid unexpected breakdowns.
Although there exist different and sophisticated software’s for simulating mechanical systems, the
development of simulation code is the most coherent solution to understand the basis of dynamic
systems; specifically, the understanding of the vibration response.
Therefore, for carrying out this experiment, the theoretical analysis of different mechanical systems
must be performed, that is, the governing equations of the movement have to be obtained.
Problem 1: For the free vibration of a single-degree-of-freedom system with mass m, spring constant
k, and viscous damping c, the system undergoes a dynamic displacement x(t) measured from the static
equilibrium position of the mass. Find the governing equations by applying the corresponding
Newton’s law.

After obtaining the governing equations, the transition matrix method has to be implemented to obtain
the free and forced vibration response. Thus, the transition matrix is estimated by using the Taylor
series expansion as follows:

[𝑨]𝒕
𝒕𝟐 𝒕𝟑 𝒕𝒏
𝒆 = [𝑰] + 𝒕[𝑨] + [𝑨] + [𝑨] + ⋯ + [𝑨]𝒏
𝟐 𝟑
𝟐! 𝟑! 𝒏!
Where, matrix A is composed of the different coefficients estimated from the obtained governing
equations, and the free vibration response is estimated by implementing the following expression:

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On the other hand, if the forced vibration response has to be estimated, firs, it must be considered that
the free vibration response considers only the homogeneous solution of the system; in this sense, the
forced vibration response belongs to the particular solution due to external forces are considered.
Therefore, the following equation has to be also implemented in order to obtain the forced vibration
response:

𝒛𝑘+1 = 𝑒 𝑨𝛥𝑡 𝑧𝑘 + 𝑨−𝟏 (𝑒 𝑨𝛥𝑡 − 𝑰)𝑭𝑘

Consequently, for the calculation of the free and forced vibration response, the following issues have
to be addressed and analyzed:

1. Plot the free vibration response of the one-degree freedom system.

2. The damping ratio, period and angular frequency have to be located in such estimated plot.
3. Plot the forced response of the one-degree freedom system.
4. During the evaluation of the forced vibration response, the system has to be subjected to external
forces that include the natural frequency as excitation frequency.

Results and conclusions:

After simulating different mechanical systems, the student must be capable of understanding the
source and the behavior of the vibrations phenomena, besides, the students have to be able of
performing a different simulation with multiple applications.

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Experiment 3: Free vibrations of a one-degree freedom system
Estimated time: 4 hours.
Objective: the main purpose of this experiment lies in the analysis and study of the free vibration
response of a one-degree freedom system, specifically, the torsional vibrations are analyzed in this
experiment and the estimation of the moment of inertia and damping coefficient for a wheel is
estimated.
Equipment:

• A mass disks
• A slender shaft
• Meter with torsional scale demo (2𝝅rad)
• An accelerometer sensor

Experiment description:
Twisting or torsional springs are commonly used in the industry to produce moment against angular
displacement. One of the most important applications of twisting springs is in the suspension system
of cars. The equation of motion for a wheel attached to the free end of a twisting spring, as shown in
the following figure, is given by:

𝐼𝜃̈ + 𝑘𝜃 = 0
Where I is the moment of inertia for the wheel (kg-m2) and θ is the angular displacement K is the
rotational flexibility factor:
𝐺𝐿
𝐾
𝐿

Where G is the modulus of rigidity (shear modulus) of the shaft material in N/m2, J is the polar
moment of cross-sectional area for the shaft in-m4 L is the effective length of the shaft in the meter.
From the above, one can find natural frequency as follows:

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 𝐺𝐿 𝐼𝐿
𝜔 = √ 𝐼𝐿 which leads to: 𝜏 = 2𝜋√𝐺𝐽

Therefore, the angular displacements must be measured and stored in order to analyze the free
vibrations response of a one-degree freedom system, in this regard, such angular movements are
measured by means of using an accelerometer sensor.
The following steps must be performed for carrying out the experiment:
1. According to the previous figure, the slender shaft has to be fixed in one of its free ends.
2. The mass disk has to be coupled in the free end of the slender shaft, as it can be seen in the
previous figure.
3. Displace the wheel angularly and measure the time of 15 complete oscillations
4. Repeat the process for different values of L and record the readings as in the following table

No. L(cm) Time of oscillations Period(m)

1 10
2 20
3 25
4 30
5 35
6 40

Results and conclusions:

After performing this experiment, the student has to be capable of analyzing the free vibration
response of a one-degree freedom system, also, the student will be able to understand the theoretical
basis of free vibrations through practical experiments and its applications in real environments.

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Experiment 4: Forced vibration response of a cantilever beam
Estimated time: 4 hours.
Objective: the objective of this experiment is mainly focused on the experimental estimation of the
natural frequencies and the verification of the resonance condition of a cantilever beam.
Equipment:

• A slender aluminum beam

• Different springs
• A DC motor
• Different weight (mass)
• An accelerometer sensor

Experiment description:
When external forces act on a vibrating system during its motion, it is termed Forced Vibration. Under
this condition, the system will tend to vibrate at its own natural frequency superimposed upon the
frequency of the exciting force. After a short time, the system will vibrate at the frequency of the
exciting force only, regardless of the initial conditions or natural frequency of the system.
The latter case is termed steady-state vibration. In fact, most of the vibrational phenomena present in
life are categorized under forced vibration. When the excitation frequency is very close to the natural
frequency of the system, vibration amplitude will be very large and damping will be necessary to
maintain the amplitude at a certain level. The last case is called "resonance" and it is very dangerous
upon mechanical and structural parts. Thus, care must be taken when designing a mechanical system
by selecting the proper natural frequency that is sufficiently spaced from the exciting frequency:7
The equation of angular motion of the system shown in the following figure is given by:

𝐼𝜃̈ + 𝑘𝐿2 𝜃 = 𝐿𝐹0 sin(𝜔𝑡)

Therefore, the following steps have to be carried out in order to perform this experiment:

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1. Set up the beam, the spring and the DC motor as it is shown in the previous figure.
2. Plug the electrical lead from the synchronous motor into the auxiliary socket on the exciter
motor and speed control.
3. Switch on the speed control unit and adjust the knob of speed so that the amplitude of
oscillation is large enough when the exciter motor mid-way between the spring and pivot.
Adjust the location of the exciter to obtain the largest amplitude.
4. Measure the oscillations produced in the beam by means of an accelerometer sensor and
compute the natural frequency.
5. Repeat step 3 and 4 by using another different rotating speed the exciter motor, also, a different
unbalanced mass may be used in order to obtain other external forces that produce different
vibrations effects.
6. Find the rotating speed on the DC motor at which the beam-spring system present a resonance
state.
7. Fill the following table and discuss all obtained results.

Speed Mass (kg) Force (m*g) Natural frequency (m)

Results and conclusions:

After this experiment, the student may understand the main affects that an external forced may
produce in a mechanical system, indeed, the most important issue of this experiment is to understand
the critical effects that an external forced with an angular frequency equal to the natural frequency
may produce un a mechanical system.

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Experiment 5: Simulation of multiple-degree freedom systems
Estimated time: 3 hours.
Objective: the main purpose of this experiment lies in performing different simulation of multiple-
degree freedom systems, specifically, the free and forced vibration response have to be estimated by
means of using the Matlab software.
Equipment:

• Software Matlab

Experiment description:
Although most of the mechanical systems may be represented by a reduced number of genialized
coordinated, the analysis of multiple-degree freedom systems is useful due to in real life most of the
systems may be also modeled as a multiple-degree freedom system.
This experiment consists of obtaining the governing differential equations of a multiple-degree
freedom system, and then, the free and forced response have to be also obtained and analyzed.
Problem 1: The following system is composed of two main masses and several springs and dampers,
thus: a) prove that the governing equations are those shown above, b) obtain the free vibration
response by defining an initial condition of displacement in x1 c) obtain the forced vibration response
by setting an external force acting the block m1 and d) produce the resonance effect in such mechanical
system.

𝑚1,1 𝑚1,2 𝑥̈ 1 𝑐1,1 𝑐1,2 𝑥̇ 1 𝑘1,1 𝑘1,2 𝑥1 𝐹

[𝑚 ] [
𝑚2,2 𝑥̈ 2 ] + [𝑐2,1 ] [
𝑐2,2 𝑥̇ 2 ] + [ ] [𝑥 ] = [ 1 ]
2,1 𝑘2,1 𝑘2,2 2 𝐹2

This simulation experiment is performed in a similar way as experiment 2 was performed, thus, the
following issues must be addressed.
1. Plot the free vibration response of the one-degree freedom system.
2. The damping ratio, period and angular frequency have to be located in such estimated plot.
3. Plot the forced response of the one-degree freedom system.
4. During the evaluation of the forced vibration response, the system has to be subjected to external
forces that include the natural frequency as excitation frequency.

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Problem 2: Consider a torsional system consisting of two discs mounted on a shaft, as it is shown.
The three segments of the shaft have rotational spring constants kt 1, kt2, and kt3. Also, it is shown
mass moments of inertia of the discs J1 and J2, the applied torques M1 and M2, and the rotational
degrees of freedom θ1 and θ2.

1. Derive the governing equations of the system

2. Find and plot the free vibration response
3. Identify the characteristic parameter of a free vibration response
4. Find and plot the forced vibration response when the system is subjected to an external torsional
force
5. Produce the resonance effect in such a mechanical system.

Results and conclusions:

After performing the simulation of different multi-degree freedom systems, the students have to be
able of understanding the vibration phenomena produced in a system with multiple degrees of
freedom, even more, the critical effects that each one of the considered elements may produce over
the rest of linked elements.

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Experiment 6: Forced vibration and whirling of rotating shafts
Estimated time: 4 hours.
Objective: the main objective of this experiment lies in the verification of the Whirling theory and
Dunkerley’s Equation, and also the analysis of forced vibration response of a rotating system. On the
other hand, this experiment also lies in the analysis of the modal vibration of a rotating shaft subjected
under critical working conditions.
Equipment:

• A rerating shaft system

• An AC motor
• A variable frequency driver

Experiment description:
For any rotating shaft, a certain speed exists at which violent instability occurs. The shaft suffers
excessive deflection and bows, a phenomenon known as whirling. If this critical speed of whirling is
maintained (called First Critical speed), then the resulting amplitude becomes sufficient to cause
buckling and failure. However, if the speed is rapidly increased before such effects occur, then the
shaft is seen to re-stabilize and run true again until another specific speed is encountered where a
double bow is produced as shown the following figure. The second speed is called "Second Critical".

Whirling speed depends primarily on the stiffness of the shaft and mass distribution (as will be seen
later). When the shaft is loaded, the whirling speed will be shifted due to the effect of the new mass.
Dunkerley set the equation that relates the overall whirling frequency with critical frequencies
introduced by the shaft and load individually. This equation is valid for any number of loads.
Therefore, the critical frequency for a shaft may be obtained from the fundamental frequency of a
beam subjected to a transverse vibration:

𝐸𝐼𝑔
𝑓 = 𝜆√ 4
𝑤𝐿
Where, f critical frequency in Hz, E is Young’s modulus, I second moment of inertia, w: Weight per
unit length of the shaft, λ the constant dependent upon the fixing conditions and mode and can be
found from tables.
For a shaft loaded with a number of disks as shown in the following figure, the first critical frequency
for the system can be found from Dunkerley’s Equation as follows:

1 1 1 1 1
= + 2 + + +⋯
𝑓 2 𝑓𝑠2 𝑓1 𝑓2 𝑓32
2

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Where, f is critical for the system as a whole, fs is the critical speed of the shaft alone (first critical
calculated from previous equations, f1, f2, f3 are the critical speeds due to attaching disk 1, 2 and 3
individually without the effect of other masses.

Thus, the following steps have to be carried out in order to perform this experiment, in this regard,
the following steps have to be performed.
1. Attach a shaft of known diameter and length to the apparatus.
2. Select simply supported configuration by moving out the sliding part of the kinematic coupling
and using the free support at the other end. Calculate the theoretical first and second whirling
speeds. The density of shaft material is 8200 kg/m3, and Young's modulus is 207 GN/m2.
3. Switch on the speed control unit and adjust the speed carefully until obtaining the largest
amplitude of whirling. Read the speed on the stroboscope and observe the shaft in the first mode,
it should contain a single bow. Increase the speed slowly until you obtain the second mode and
record the rotational speed. Observe the shaft in the second mode.
4. Change the support type to fixed-supported and then to fixed-fixed and repeat steps 2. and 3.
5. Replace the shaft with another one of different diameter and repeat the above steps.
Record the results as in a table as below:

Shaft-
No Shaft length Supported fixed Fixed-Fixed
diameter
1
2
…
…
…
…

Results and conclusions:

After carrying out this experimental test the students may be capable to analyses the vibration
response in rotating systems. The most important issue in this experiment is that all the rotating
machines may be working under critical working conditions. On the other hand, for an industrial
application environment, most of the machines are composed of several rotating elements that may
be affected by external forces that may produce the critical working condition.

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Experiment 7: Simulation and control of a quarter vehicle MR suspension
Estimated time: 4 hours.
Objective: the objective of this experiment is related to a practical problem where the student has to
obtain the modeling of a quarter vehicle suspension, and also a controller element has to be proposed
to reduce the vibration effects in such suspension system.
Equipment:

• Software Matlab

Experiment description:
New challenges in the automotive industry are related to safeguard the integrity of users and also are
related to improve the performance in suspension systems. Therefore, in order to investigate the
effectiveness of vibration control algorithms, a quarter vehicle suspension system is constructed as
shown in the above figure. On the other hand, it shows that the proposed quarter vehicle suspension
model with the MR damper has two degrees of freedom. The spring for the suspension is assumed to
be linear and the tire is also modeled as linear spring component. From the mechanical model, the
dynamic equation of the system considering time constant can be expressed as follows:

𝑚𝑠 𝑧̈𝑠 = −𝑘𝑠 𝑧𝑠 − 𝑐𝑠 𝑧̇𝑠 + 𝑘𝑠 𝑧𝑢 + 𝑐𝑠 𝑧̇𝑢 − 𝐹𝑀𝑅

𝑚𝑢 𝑧̈𝑢 = 𝑘𝑠 𝑧𝑠 + 𝑐𝑠 𝑧̇𝑠 − (𝑘𝑡 + 𝑘𝑠 )𝑧𝑢 − 𝑐𝑠 𝑧̇𝑢 + 𝐹𝑀𝑅 + 𝑘𝑡 𝑧𝑟
1 1
̇ =−
𝐹𝑀𝑅 𝐹𝑀𝑅 + 𝑢
𝜏𝑀𝑅𝐷 𝜏𝑀𝑅𝐷

Since a MR damper is considered to reduce the vibration effects, the parameters listed in the following
table have to be considered for purpose a vibration control strategy, the system parameters of the
quarter vehicle MR suspension system are chosen on the basis of the conventional suspension system
for a mid-sized passenger vehicle.

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 Parameter Value Parameter Value
Sprung Mass (ms) 373.5kg
Unsprung Mass (mu) 40kg
Stiffness Coefficient (ks) 27358N/m
Tire Stiffness Coefficient (kt) 211625N/m
Damping Coefficient (cs) 570Ns/m

Accordingly, in order to evaluate vibration control performance of the quarter vehicle MR suspension
system, various control strategies are formulated and experimentally implemented. Thus, evaluate the
following controllers:
1. Skyhook controller: is a simple but very effective control algorithm. It is well known that the
logic of the skyhook controller is easy to implement in the real field.
2. LQG controller: is optimal control of a linear system with respect to the quadratic objective
function under incomplete measurements corrupted by white Gaussian noise is generally referred
to as the linear quadratic Gaussian (LQG) problem

Results and conclusions:

After carrying out this experiment, the student will be capable of modeling a control system aiming
to reduce the vibration effects produced by external forces that may produce undesirable behaviors
in mechanical systems such as automotive suspensions. On the other hand, through this experiment,
the student may understand the vibrational phenomena produced in automotive suspensions and how
to face the produced effects.

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